Object detection device

Abstract

An object detection device includes: first and second transmission/reception units transmitting and receiving an exploration wave to detect a peripheral object; and a processing unit determining a position of an object based on reception results of the first and second transmission/reception units. The processing unit calculates a first point based on first and second exploration waves, calculates a second point based on third and fourth exploration waves, determines that the object exists on a line segment interconnecting the first and second points when a distance between the first and second points is less than a predetermined value, and determines that the object exists on the line segment and line segments extended from both ends of the line segment when the distance between the first and second points is equal to or greater than the predetermined value.

What is claimed is: 
     
       1. An object detection device comprising:
 a first sensor configured to transmit and receive an exploration wave to detect a peripheral object; 
 a second sensor spaced apart from the first sensor by a predetermined distance and configured to transmit and receive an exploration wave to detect a peripheral object; and 
 circuitry configured to determine a position of an object based on reception results of the first sensor and the second sensor, wherein 
 the circuitry is configured to
 calculate a first point based on a first exploration wave transmitted from the first sensor and received primarily by the first sensor and a second exploration wave transmitted from the first sensor and received primarily by the second sensor, 
 calculate a second point based on a third exploration wave transmitted from the second sensor and received primarily by the second sensor and a fourth exploration wave transmitted from the second sensor and received primarily by the first sensor, 
 determine that the object exists on a line segment interconnecting the first point and the second point when a distance between the first point and the second point is less than a predetermined value, and 
 determine that the object exists on the line segment interconnecting the first point and the second point and line segments obtained by extending both ends of the line segment when the distance between the first point and the second point is equal to or greater than the predetermined value. 
 
 
     
     
       2. The object detection device according to  claim 1 , wherein
 the circuitry is configured to:
 calculate a first shortest distance from the first sensor to the object based on the first exploration wave; 
 calculate a second shortest distance from the first sensor to the second sensor via the object based on the second exploration wave and calculate positions of third vertices of a plurality of triangles each including positions of the first sensor and the second sensor as two other vertices by a trilateration method; 
 set, as the first point, an intersection of an arc having a distance from the first sensor being the first shortest distance and an arc interconnecting the third vertices of the respective triangles calculated by the trilateration method; 
 calculate a third shortest distance from the second sensor to the object based on the third exploration wave; 
 calculate a fourth shortest distance from the second sensor to the first sensor via the object based on the fourth exploration wave and calculate positions of third vertices of a plurality of triangles each including positions of the first sensor and the second sensor as two other vertices by the trilateration method; and 
 set, as the second point, an intersection of an arc having a distance from the second sensor being the third shortest distance and an arc interconnecting the third vertices of the respective triangles calculated by the trilateration method. 
 
 
     
     
       3. The object detection device according to  claim 1 , wherein
 the first sensor operates to alternately repeat a period for implementation of transmission and reception of the exploration wave and a period for implementation of reception of the exploration wave, 
 the second sensor operates to alternately repeat a period for implementation of transmission and reception of the exploration wave and a period for implementation of reception of the exploration wave, 
 the first sensor performs transmission and reception of the exploration wave to receive the first exploration wave from the first sensor for a period during which the second sensor performs reception of the exploration wave, and performs reception of the exploration wave to receive the fourth exploration wave from the second sensor for a period during which the second sensor performs transmission and reception of the exploration wave, and 
 the second sensor performs transmission and reception of the exploration wave to receive the third exploration wave from the second sensor for a period during which the first sensor performs reception of the exploration wave, and performs reception of the exploration wave to receive the second exploration wave from the first sensor for a period during which the first sensor performs transmission and reception of the exploration wave. 
 
     
     
       4. The object detection device according to  claim 1 , wherein
 the first sensor is provided on one of a hinge side or an opening/closing side of a door that is opened and closed by rotating around a hinge as an axis, 
 the second sensor is provided on a remaining one of the hinge side and the opening/closing side of the door, and 
 the circuitry is configured to:
 determine whether or not the object exists in an area surrounded by a fully closed position of the door, a fully opened position of the door, and a trace of the door when the door is opened or closed; and 
 calculate a collision position between the object and the door when the object exists in the area. 
 
 
     
     
       5. The object detection device according to  claim 4 , wherein
 the circuitry is configured to limit an opening degree of the door based on the calculated collision position. 
 
     
     
       6. The object detection device according to  claim 4 , wherein
 the door is provided on a vehicle.